CN108156832A - The control of electric transducer based on optimization pulse pattern - Google Patents
The control of electric transducer based on optimization pulse pattern Download PDFInfo
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- CN108156832A CN108156832A CN201680040621.XA CN201680040621A CN108156832A CN 108156832 A CN108156832 A CN 108156832A CN 201680040621 A CN201680040621 A CN 201680040621A CN 108156832 A CN108156832 A CN 108156832A
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- voltage
- harmonic content
- electric transducer
- pulse pattern
- current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/12—Arrangements for reducing harmonics from ac input or output
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
- H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
- H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53873—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with digital control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0012—Control circuits using digital or numerical techniques
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0038—Circuits or arrangements for suppressing, e.g. by masking incorrect turn-on or turn-off signals, e.g. due to current spikes in current mode control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Dc-Dc Converters (AREA)
- Inverter Devices (AREA)
Abstract
A kind of operation electric transducer（12）Method include：From for electric transducer（12）Fundamental voltage reference（II）In determine optimization pulse pattern（I）, wherein optimizing pulse pattern（I）From the first look-up table（30）In determine, and be included in predefined switching instant（24）The discrete voltage amplitude of change；Based on second look-up table（34）, referred to from fundamental voltage（II）In determine harmonic content reference（III）, wherein harmonic content reference is from electric transducer（12）Electric current frequency spectrum in determine harmonic current reference（IV）Or harmonic content reference is to be referred to by application fundamental frequency wave filter to voltage and determining filtering voltage（V）, electric transducer is applied in optimization pulse pattern（12）When, the current or voltage is generated；By being referred to from harmonic content（III）Subtract electric transducer（12）Estimation output voltageAnd/or the output current of estimationTo refer to from harmonic content（III）In determine harmonic content error（VI）；By to switching instant（24）In-migration modification optimization pulse pattern during progress（I）So that fundamental voltage refers to（II）It is tracked, and harmonic content error（VI）Pass through the switching instant of time shift（24）It is corrected；Using the optimization pulse pattern of modificationTo electric transducer（12）Semiconductor switch.
Description
Technical field
The present invention relates to the fields of the control of high power converter.Particularly, the present invention relates to for be based on optimization pulse
Pattern and the method and controller for operating electric transducer.In addition, the present invention relates to turns for thus planting method and/or controller control
Transformer system.
Background technology
High power electric transducer is used to various amplitude and the voltage of frequency (such as AC and D/C voltage) being converted into another electricity
Pressure.In such converter, semiconductor switch realizes that voltage is converted according to being switched over by the specific pattern that controller determines.
For controlling optimization pulse pattern (the optimized pulse that such converter possibility is precomputation
Pattern) (OPP) can be used to carry out shaping to the electric current of converter and the spectrum of voltage.Method of the tradition based on OPP relies on
External control ring refers to provide the modulation index of the commuting angle for reading off-line calculation.These commuting angles then directly should
Use semiconductor switch.
Such method can have several defects.For example, due to slow modulation index control ring, dynamic property can be poor
's.Moreover, when changing modulation index, OPP angles can have to slowly change, that is, almost be continuous.Smooth OPP angles must
The property wanted greatly limits achievable electric current and voltage spectroscopy in opereating specification.
Therefore, in 2469692 A1 of EP, based on Model Predictive Control, optimization pulse pattern is had modified.Precomputation
OPP commuting angles are by online modification to follow magnetic linkage track (flux trajectory).This model predictive control method can solve
Above mentioned two problems, and can be well suited for being used for machine side application.
However, for grid side application, it may be preferable that electric current can be directly controlled.For grid side based on magnetic linkage
Method in, current reference can must be transformed into Voltage Reference, and then be integrated to generate magnetic over time
Chain refers to.In this way, generation Voltage Reference can require to be best understood by network voltage and impedance and in power grid and conversion
The parameter of the transformer interconnected between device.
Another problem related with the control based on magnetic linkage in grid side can be by being integrated to Voltage Reference
Persistently off-centered magnetic linkage track can be caused to generate magnetic linkage reference in the suddenly change that voltage amplitude occurs.For example,
For network voltage rapid drawdown, situation is such.
0504449 A1 of EP are related to the control method for electric transducer, wherein changing OPP based on Voltage Reference.
" Modulation Error Control for Medium Voltage written by Lacynsky T. et al.
Drives with LC-Filters and Syn-chronous Optimal Pulse Width Modula-tion”
(INDUSTRY APPLICATIONS SOCIETY ANNUAL MEETING,2008.IAS'08.IEEE,IEEE,
On October 5th, PISCATAWAY, NJ, USA, 2008) a kind of simulation is related to, and describe undesirable humorous by eliminating
Wave can optimize optimization pulse pattern (" the Definition and Calculation of on page 3 of precomputation
Modulation Error " chapters and sections).Modulation error can be based on optimization problem analysis solution (on page 4
" Modulation Error Control by the LQR Controller " ") it is corrected or directly by minimizing energy
Flow function (" Modulation Error control by the Ljapunow Controller " on page 4) is by school
Just.
Invention content
The invention aims to provide simple, the quick and reliable control method for electric transducer.The present invention's
In addition purpose is to provide for the control method particularly suitable for power grid side controller.
These purposes are achieved by subject matter of the independent claims.According to dependent claims and following retouch
It states, in addition example embodiment is obvious.
The aspect of the present invention is related to the method for operating electric transducer.Method hardware that can be in the controller and/or soft
It is realized in part.
According to an embodiment of the invention, method includes：Optimization arteries and veins is determined from the fundamental voltage reference for electric transducer
Rush pattern, wherein optimization pulse pattern is determined from the first look-up table, and be included in that predefined switching instant changes from
Dissipate voltage amplitude amplitude；Based on second look-up table, harmonic content reference is determined from fundamental voltage reference, wherein harmonic content refers to
It is that the harmonic current determined from the frequency spectrum of the electric current of electric transducer refers to or harmonic content reference is by applying fundamental frequency
Wave filter is to voltage and the reference of determining filtering voltage, when optimizing pulse pattern and being applied to electric transducer, the electric current or
Voltage is generated；By from harmonic content with reference to subtract electric transducer estimation and/or filtering output voltage and/or estimation it is defeated
Go out electric current to come in referring to from harmonic content to determine harmonic content error；In-migration modification optimization pulse during by being carried out to switching instant
Pattern so that fundamental voltage refers to and/or current reference (can determine fundamental voltage reference according to it) is tracked, and harmonic wave contains
Amount error is corrected by the switching instant of time shift；And the semiconductor of optimization pulse pattern to the electric transducer of application modification is opened
It closes.
Method is based on two look-up tables.
In the first look-up table, storage optimization pulse pattern.Can off-line calculation these optimization pulse pattern (its can by regarding
For reference voltage pattern).It is referred to based on the fundamental voltage that can be for example provided as voltage magnitude and frequency, selects a voltage ginseng
Examine pattern.
In second look-up table, storage harmonic content reference.These harmonic contents are referred in certain optimisation pulse pattern quilt
Behavior modeling when being applied to converter for electric transducer.Moreover, it off-line calculation harmonic content can refer to.For example, converter
Model can be utilized for certain optimisation pulse pattern calculate harmonic content reference.In this way, it is not necessary that online
The model of converter is assessed to determine the harmonic content of specific quantity (such as input/output voltage/current) in converter.
Harmonic content reference can be as time point in a lookup table/value to being stored in look-up table.Harmonic content is joined
The intermediate point for the track examined can be determined by interpolation from this time point/value centering.
It is referred to according to harmonic content, is referred to by comparing harmonic content and the output valve of the estimation of converter (such as is estimated
And/or filtering output voltage and/or electric current) determine harmonic content error.The output valve of estimation can be from electrical system
It measures and directly or indirectly calculates.
Have to it is noted that harmonic content reference and/or harmonic content error can be discrete time tracks, that is, can
It is provided as the value in discrete time point.It is provided in addition, the two amounts may depend on (up to) prediction time domain, such as can be with
It is particular number at the time of future.
In addition, harmonic content is with reference to the higher that can refer to fundamental frequency and finger voltage signal determining from optimization pulse pattern
The frequency of order harmonics.It can also be it is possible that fundamental frequency be the part that harmonic content refers to.In general, at this up and down
Harmonic content in text can refer to the signal that can be realized by converter.The fundametal compoment of signal can be by desired fundamental voltage/electric current
With reference to offer, and residual components (and/or harmonic wave) can be determined based on optimization pulse pattern.
Then, harmonic content error is used for changing Voltage Reference pattern in this way, so that correction harmonic content
Error.In other words, Voltage Reference pattern is changed so that controlled filtering voltage and/or the error of the fundametal compoment of electric current
It is minimized, and is shaped by the practical harmonic content of converter generation according to optimization pulse pattern.Voltage Reference pattern with
Such mode is changed so that move in time indicate when output voltage must not switch to another level when
It carves.
In this way, can ensure that converter safely and reliably operates in given range by keeping variables set, it
Closely follow-up and active and related reactive power arbitrary electricity reference, and its Voltage Reference pattern for calculating on the estimation, are produced
Raw deterministic voltage and current spectrum.In addition, it simply can install and debug such method.That is, only not many work be must
Need so as to method for customizing or corresponding controller to specific electrical system.
According to an embodiment of the invention, by minimizing cost function, harmonic content error is corrected, cost function is included in
Quadratic term in harmonic content error and the quadratic term in the time shift of switching instant.With punishing the item one of time shift become too big
It rises, the harmonic content error depending on the value of the estimation from time shift indirectly can be minimized also.
According to an embodiment of the invention, using time shift in the time window terminated in prediction time domain.Contain to minimize harmonic wave
Error is measured, controller can only modify to the time shift for depending on predefined prediction time domain.Cost function can be based on predicting
Harmonic content error at the end of time domain, that is, can be evaluated at the end of time domain is predicted.
According to an embodiment of the invention, the immovable constraint of sequence of switching instant is limited by, minimizes cost function.Electricity
Press reference pattern (optimization pulse pattern) can be optimised relative to the other purposes such as lost.To keep Voltage Reference pattern
These attributes, also can it is beneficial that keep switching instant sequence.Voltage Reference pattern should not lose its general formula after the modification.
According to an embodiment of the invention, cost function is minimized by solving quadratic programming.This quadratic programming can control
Line solver in device.It is also possible in analysis solve this quadratic programming online and realizes obtained equation in the controller.It is logical
These equatioies are crossed, optimization pulse pattern and harmonic content error can be based on, calculate time shift.
According to an embodiment of the invention, method further includes：From fundamental current with reference to (for example, being provided by external control ring) and
Fundamental voltage reference is determined in the network voltage of estimation.In this way, it is possible that directly control the electric current of electric transducer.This is right
In being beneficial usually via power network current rather than via the active rectifier of magnetic linkage control.
According to the present invention, harmonic content reference is the harmonic current reference determined from the frequency spectrum of the electric current of converter,
It is generated when Voltage Reference pattern is applied to converter.For example, can off-line simulation converter, and can calculate application have
The electric current generated during bulk voltage reference pattern.From this electric current, it may be determined that (for example, passing through Discrete Fourier Transform) frequency spectrum.Electricity
The higher order contribution (contribution) (no fundamental frequency component) of stream can be stored in by fundametal compoment indexed second
In look-up table.Higher order contribution can be considered as the ripple in fundametal compoment.
Online, that is, during the operation of converter, can be read from second look-up table higher order contribution, and by its
In addition fundamental current refers to.Then, by subtract for example from measurement determine estimation electric current, it may be determined that error.
In short, by adding two components：Fundametal compoment (as current reference) and ripple or harmonic component, can count online
It calculates optimum current track (as harmonic content reference).Fundametal compoment can pass through a certain outer shroud (such as DC link voltages control ring)
It provides.Ripple component can be provided by second look-up table and by electric network impedance.Practical estimation electric current and optimum current track it
Between difference then can be used to correct the switching instant of optimization pulse pattern.Note that in the case, without having in electric current loop
Peripheral control unit.This can simplify debugging efforts, it is possible to increase the robustness of solution, and controller bandwidth can be increased.
In addition, in this way, controller can directly adjust electric current along optimum trajectory (rather than magnetic linkage track).
It is also noted that the fundamental wave and harmonic content in electric current can be used as single amount to handle.Due to do not require for
Separate fundamental wave and the rectangular window and regulation of harmonic content, therefore, this can simplify realization.
According to the present invention, harmonic content reference is come determining filtering voltage by application fundamental frequency wave filter to voltage
With reference to voltage is generated when optimizing application pulse pattern is to converter.It is also possible that harmonic content analysis is based on converter
Voltage.
For example, can off-line simulation converter, and the voltage that generates in the specific Voltage Reference pattern of application can be calculated.With
Afterwards, this voltage can be filtered by fundamental frequency wave filter to extract the harmonic content of voltage.Filtering voltage then can quilt
It is stored in second look-up table.
According to an embodiment of the invention, harmonic content error is filtering voltage with reference to the difference with the filtering voltage of estimation,
In by the output voltage of the estimation of application on site fundamental frequency wave filter to electric transducer, determine the filtering voltage of estimation.
Online, it can for example be referred to based on fundamental voltage, harmonic content reference is read from second look-up table.It is in addition, logical
It crosses using with being applied to filtering voltage offline with reference to identical firstorder filter to the reality that can be determined from measurement in the converter
The estimated voltage on border, it may be determined that practical estimation filtering voltage.Then, the filtering voltage that can filtering voltage referred to and be estimated
Difference is used as harmonic content error.
According to an embodiment of the invention, from fundamental current reference and the mistake provided by the peripheral control unit of such as PI controllers
Fundamental voltage reference is determined in difference.When harmonic content refers to and harmonic content error is based on filtering voltage, it may be necessary to pass through
Peripheral control unit come correct fundamental voltage reference, peripheral control unit based on fundamental current refer between the output current of estimation
Difference, determine and the deviation of fundamental voltage.
Note that peripheral control unit can not needed to and in the method that the harmonic content based on electric current refers to for current control
Corresponding control ring.Since even in the case of there are grid disturbances, obtained quick control ring also allows DC links
Voltage is maintained in tightened up range, and therefore, this can be beneficial.This leads to safer and more robust operation and less
Trip event.Due to the smaller amounts of tuner parameters, it also reduces time and the complexity of debugging.
According to an embodiment of the invention, the optimization arteries and veins by the model off-line calculation of electric transducer in the first look-up table
Rush pattern.As already mentioned, be limited by the specific optimization purpose for such as minimizing loss, optimization pulse pattern can be from
(routine) optimization pulse pattern of line computation.
According to an embodiment of the invention, it is counted offline from the corresponding optimization pulse pattern for the model for being applied to electric transducer
Calculate the optimization pulse pattern in second look-up table.By analyzing what is generated when the corresponding optimization pulse pattern of application is to converter
The harmonic content of voltage and/or electric current can calculate harmonic content reference.This analysis can be carried out by off-line simulation converter.
Additional aspects of the present invention are related to the controller for electric transducer, the controller be suitable for according to as above and
Method described below controls electric transducer.
For example, controller may include processor and computer program, computer program side of execution when being run by processor
Method.It can also be it is possible that method be at least partly realized, such as realized in FPGA and/or DSP within hardware.
First and second look-up tables can be stored in the memory of controller.
Additional aspects of the present invention are related to converter system, including electric transducer and such controller.Electric transducer can
Suitable for AC voltages being converted into D/C voltage and/or vice versa.Electric transducer may include the controller by being used to control voltage
The semiconductor switch of control.
According to aspects of the present invention, electric transducer is the active rectification for ac input voltage to be converted into DC output voltage
Device.It is also possible to operate converter in reverse mode, in this mode, the energy from DC links is supplied to AC power grids
In.For example, electric transducer may be connected to AC power grids, and its DC output voltage can be supplied to DC links.Controller can measure
Voltage and/or electric current in power network, and the generation of DC link voltages can be controlled based on these measurements.
In this way, the fast closed-loop correction mechanism of the switching instant by using optimization pulse pattern, can be based on logical
The current error in grid side is controlled with optimization pulse pattern.This allows use to be specifically designed for such as voltage spectroscopy again
The optimization pulse pattern of the specific purposes of shaping and/or minimum switch cost.Be voltage spectroscopy shaping be suitble to power network standard
Can be especially concerned because electric transducer can meet the requirement of standard without the use of wave filter, this can reduce electric transducer into
Sheet and size.
In addition, by control method/controller of description, converter system is since quick follow current refers to and also ensures that
The voltage level of DC links be maintained in the range of ability and can be more robust to the grid event of such as voltage dip.It can
It is expected that due to network voltage disturbance and caused by tripping times be lowered.
In addition, it is proposed that method can reduce the cost of driving debugging, the fiber crops because it does not require to have seemed in many cases
The tuning of tired current controller parameter.
Moreover, because converter system may conform to power grid standard without requiring wave filter, it therefore, can less expensive real estate
It is raw.Since the method for proposal reduces the requirement of the smoothness to Voltage Reference pattern, allow calculate Voltage Reference pattern so as to
Meet power grid standard and/or suitable specific requirement, therefore, what this was possible to.
It is to be understood that as that can be as in institute above and below in the feature of the method described above and below
The converter system and/or the feature of controller stated and vice versa.
Embodiment from the description below, these and other aspects of the invention will be apparent, and will be with reference under
The embodiment of text description, illustrates these and other aspects of the invention.
Description of the drawings
With reference to the example embodiment illustrated in the accompanying drawings, subject of the present invention is explained in further detail below.
Fig. 1 schematically shows converter system according to an embodiment of the invention.
Fig. 2 shows the schematic diagrams for illustrating optimization pulse pattern.
Fig. 3 schematically shows controller according to an embodiment of the invention.
Fig. 4 shows to illustrate the schematic diagram of harmonic content reference used in the controller of Fig. 3.
Fig. 5 schematically shows controller according to other embodiments of the present invention.
Fig. 6 shows to illustrate the schematic diagram of other harmonic content reference used in the controller of Fig. 5.
Fig. 7 shows to illustrate the schematic diagram of the filter function used in the controller of Fig. 5.
The reference mark and their meaning used in the accompanying drawings is listed in using summary form in list of numerals.Principle
On, identical component is provided with identical reference mark in figure.
Specific embodiment
Fig. 1 is schematically shown with the converter system of electric transducer 12 for interconnecting power network 14 and DC links 16
System 10.Therefore, converter system 10 can be considered as active rectifier.Three of power network 14 mutually provide AC voltages υg, via
Wave filter and/or transformer are supplied to converter 12, and the converter is by phase AC voltage υgIt is transformed into and is supplied to DC links 16
D/C voltage, as shown in FIG. 1, which can be in two DC link capacitors CdcBetween have neutral point to point
Formula DC links (split DC link).
In addition some variables that Fig. 1 shows will be used hereinafter and be listed in table below.
Converter system 10 further includes the controller 20 of the semiconductor switch of control (switching) electric transducer 12.It is such as following detailed
Thin described, controller 20 is suitable for modification optimization pulse pattern so that and the fundametal compoment of voltage and/or electric current is tracked, and
The harmonic content (harmonic wave will be generated by electric transducer 10) of phase AC voltage is shaped according to optimization pulse pattern.
Fig. 2 illustrates the example of optimization pulse pattern 22.It is every for be exported by converter 12 to optimize pulse pattern
The voltage level modeling of a pulse.In switching instant 24, the voltage level of phase must not switch to another level.In general, switching
Moment 24 provides as commuting angle, and the cycle length based on actual frequency of having to is switched to switching instant.
From optimization pulse pattern 22, it may be determined that time correlation Voltage ReferenceIt can be converted to be applied to conversion
The switching command of device 12.
Fig. 3 shows the embodiment of the controller 20 based on current control.Controller 20 receives fundamental current reference
And Voltage Reference/output voltage v (t) (the optimization pulse pattern 22 based on modification) is provided, can be used for determining to be applied to
The switching state of electric transducer 12.
In fundamental wave reference voltage estimates frame/step 26, controller is referred to from desired fundamental currentAnd estimation
Network voltage vg(t) determine that real value refers to transducer voltage inFor example, external control ring can be provided for desired
Fundamental currentReference.
Real value Voltage ReferenceIt can be in the following manner from desired fundamental current(estimate with network voltage
Meter) vg(t) it is obtained in
Wherein R=Rg+Rc, and L=Lg+LcIt is total series resistance and the inductance between network voltage source and converter terminal.
Pay attention to, it will be assumed that network voltage is ideal fundamental voltage source, that is,
In optimum voltage is with reference to determination block/step 28, from fundamental wave reference voltageIn determine optimum voltage referenceOptimum voltage refers toBased on the optimum pulse pattern read in the first look-up table 30 stored from controller 20
24。
Relative to Fig. 2, optimization pulse pattern 22 in table 30 can corresponding voltage level together with switching instant/angle
24 forms are stored, by fundamental wave reference voltageIt is indexed.Then, best electricity can be reconstructed from the value of these storages
Pressure reference
It can the reference of off-line calculation optimum voltageOr corresponding optimization pulse pattern 22, to optimize such as total harmonic distortion
(THD) objectives function and/or the spectrum content shaping for voltage are with some suitable requirements, such as power grid standard.In closed loop
In operation, real value Voltage ReferenceIt can be used as reading optimization Voltage Reference in table 30Index.
In harmonic content determination block 32, from fundamental wave reference voltageIn determine harmonic current reference
From fundamental wave reference voltageIn determine optimum voltage referenceWith discrete amplitude value, join in optimum voltage
It examinesWhen will be applied directly to converter 12, these discrete amplitude values lead to the higher order contribution to converter current.This is humorous
Wave content can be by off-line calculation, and can be stored in second look-up table 34.For example, it can be referred to by optimum voltageCome
The model of simulation system 10, and the electric current of generation can be analyzed.
Particularly, it is referred in resistors in series-inductor circuit using optimum voltageWhen, obtained electric current is
The low-pass filtering version of voltage.The amplitude of the fundametal compoment of obtained electric current can be subtracted to obtain harmonic current reference
This is done because the amplitude of the fundametal compoment of converter current also depends on network voltage vg(t), which is that priori is unknown
, and therefore cannot be used for calculating harmonic current referenceOffline track.
Fourier series can be used, obtain harmonic current referenceTrack.Assuming that anAnd bn(n=1,2 ..., ∞) be
DescriptionFourier coefficient, that is,
WhereinWithIt is the fundamental wave and harmonic content of the optimum voltage of storage respectively, and T is the period of fundametal compoment.
It is noted that in (2), for harmonic contentSummation started with n=2, therefore, eliminate fundametal compoment.
Corresponding to harmonic contentElectric current be given by the following formula when being applied to RL series circuits
WhereinWithIt is to pass through impedance ZnThe fourier coefficient of=R+jwnL modulation, that is,
WhereinAnd Re (x) and Im (x) are the real and imaginary parts of x respectively.
Track can be by off-line calculation, and be stored in the memory of controller 20 and referred to relative to fundamental wave
VoltageIn indexed look-up table 34.In close loop maneuver, real value Voltage ReferenceIt can be used as in harmonic current
With reference toThe index of middle reading.
Fig. 4 is illustrated for specific fundamental wave reference voltageHarmonic current referenceTrack example.Solid
Determine to provide harmonic current reference in α β-reference frameAnd it can be stored for the occurrence of time t.In retaking of a year or grade
When, it can interpolation missing value.It may be important that it is stored inThe track of the middle value for occurring at least being used for t when switching changes, i.e., at least
In the track of the switching instant 22 of corresponding optimization pulse pattern 22.It may also be it is important that storing only in the sub-fraction phase in period
Between track, and using track symmetry, reconstruct complete track.
After frame/step 32, fundamental current is referred toIt is added to harmonic current referenceTo determine that optimum current refers toI.e.
By being referred to from optimum currentIn subtract the electric current i (t) of measurement/estimation and carry out calculating current errorForm it is humorous
Wave content error, i.e.,
The electric current i (t) of measurement/estimation can be provided from the estimation frame 36 of controller 20, based on practical survey in system 10
Amount, determines electric current i (t).
For example, frame 38 is represented based on the Voltage Reference v (t) in the output of converter 12 and virtual voltage vc(t), in electricity
Mapping between voltage level order.Frame 40 represents model/modeling of load.
Frame 36,38,40 can not be a part for controller 20.
In frame/step 42 is changed, optimize switching instant/angle 24 and/or the optimum current of pulse pattern 22 by modification
With reference to correcting current errorTo follow desired electric current.Optimum voltage can be referred toSwitching instant 22 it is (or excellent
Change pulse pattern 22) slightly time shift (on time t forward or backward) is carried out with correcting current tracking error
Frame/step 42 can be performed in a manner of beaten (dead beat).For example, move on to best ginseng when can apply
Examine voltageAnd it can determine that corresponding current corrects.In current correction at least part euqalizing current errorWhen, so far
Know that determining time shift can be used as the basis further corrected carried out by other time shift.This iteration optimization is can perform, until pre-
The time of definition has been used up (exhausted).
It is also possible that using the solution of quadratic programming, optimum voltage reference is performedAnd/or optimization pulse pattern 22
Modification.Assuming thatIt is in the current error of measurement/estimation of time t+W, W in abc coordinate systems>0 is desired pre-
Survey time domain, Na、NbAnd NcIt is the number that the switching of each phase changes to be used in prediction time domain, and Δ tA, j, Δ tB, j, ΔC, j
=1 ..., N is the change at cutting moment planned in window t to t+W, i.e.,
WhereinIt is the offline optimum switching time provided by OPP, and ta,jIt is the practical switching calculated by closed loop controller
Time.In addition, definition vector
Object function J is defined as
Wherein Q is the positive definite matrix for punishing the change in switching instant.
Note thatΔ t is also depended on, because in the optimization pulse pattern of application modification, current error is based on turning
The behavior of parallel operation 12, that is, the electric current i (t) of estimation.
The optimization problem for calculating the change in commuting angle is given by the following formula
It is limited by
This quadratic problem can solve offline, and the obtained equation for the solution of Δ t can be in controller 20 in frame 42
It realizes.
Fig. 5 shows the embodiment of the controller 20 also based on current control.Similar to the controller 20 in Fig. 3, in Fig. 5
Controller receive fundamental current referenceAnd Voltage Reference v (t) (the optimization pulse pattern 22 of modification) is provided, it can
For determining to be applied to the switching state of electric transducer 12.
Controller 20 with Fig. 3 according to following equation on the contrary, determine that fundamental voltage refers to
The item feedback current error of wherein last (and additional).It is referred to from fundamental currentIn subtract the electric current i of measurement/estimation
(t), the controller 44 of such as PI controllers, the current error in terms of and in outer control loop and by result are inputted.Then, it will control
The result of device processed is added to be referred to by (basic) fundamental voltage that frame/step 26 provides, to determine that (correction) fundamental voltage refers to
Similar to Fig. 3, optimization pulse pattern 22 and best electricity are then determined from the first look-up table 30 in frame/step 28
Pressure reference
In Figure 5, the harmonic content correction in frame 32 and 42 determines and correction is based on filtering voltage.
Particularly, harmonic content determination block/step 32 determines to take filtering voltageThe harmonic content reference of form.Filter
Wave voltageIt is stored in the second look-up table 34 in controller 34.
Fig. 6 is illustrated for specific fundamental wave reference voltageFiltering voltageTrack example.It can be in fixed α
Filtering voltage is provided in β-reference frameAnd it can be stored for the occurrence of time t.In retaking of a year or gradeWhen, it can interpolation
Missing value.Filtering voltageTrack can be by off-line calculation, and be stored in the memory of controller 20 relative to base
Wave reference voltageIn indexed look-up table 34.
Optimum voltage reference is applied to for example, can be usedFirstorder filter, off-line calculation filtering voltage.
Fig. 7 shows the Bode schematic diagrams for firstorder filter.In low frequency, Bode responses can be amplitude one and almost
Zero phase-shift, that is, filtering voltageIt is understood to be for low-frequency voltage.In high-frequency, Bode responses can be similar to accumulate
Divide the response of device, that is, filtering voltageIt is understood to be for high-frequency magnetic linkage.
Back to Fig. 5, from filtering voltageIn, by from filtering voltageIn subtract the voltage ψ of measurement/estimation
(t) by filtering voltage errorIt is calculated as harmonic content error.ψ (t) is corresponding to the first-order filtering identical in (12)
The output voltage that device 46 is applied to refers to v (t), that is,
Modification frame/step 42 can then optimize switching instant/angle 24 of pulse pattern 22 by modification as being similar to Fig. 3,
Correction/equalizing voltage error
In principle, in the method for Fig. 5, current feedback is transferred to the early stage grade (early stage) of control ring, that is, ginseng
Generating portion is examined, and changes inner loop to manipulate in filtering voltageIn error
Although the present invention in figure and previously mentioned middle diagram and detailed description, it is such illustrate and describe will by regarding
To be illustrative or exemplary and being not limiting；The present invention is not limited to disclosed embodiments.According to research figure, openly
And appended claims, by put into practice it is claimed the present invention's and in the art those skilled in the art it will be appreciated that and
Realize other variations to open embodiment.In the claims, word " comprising " is not excluded for other element or steps, and not
Definite article "a" or "an" is not excluded for multiple.Single processor or controller or other units can meet described in claim
The function of several.The fact that only certain measures describe in mutually different dependent claims not at least these measures
Combination cannot be used to advantage.Any reference mark in claim is not construed as limitation range.
List of numerals
10 converter systems
12 electric transducers
14 power network
16 DC links
18 wave filters/transformer
20 controllers
υgNetwork voltage
LgPower grid inductance
RgPower grid resistance
ia(t) power network current
DC link currents
DC link voltages
CdcDC link capacitors
22 optimization pulse patterns
24 switching instants
26 fundamental wave reference voltages estimate frame/step
28 optimal reference voltages estimate frame/step
30 look-up tables
32 harmonic content determination blocks/step
34 look-up tables
Fundamental current refers to
Fundamental voltage refers to
Optimum voltage refers to
The optimum pulse pattern of v (t) modifications, Voltage Reference
Harmonic current refers to
Optimum current refers to
Current error
The electric current of i (t) measurements/estimation
36 current estimation frames/step
38 transform frames/step
40 load modeling frames/step
42 modification frame/steps
44 controllers
46 frequency filters
Filtering voltage
Filtering voltage error
The voltage of ψ (t) measurements/estimation.
Claims (13)
1. one kind is used to operate electric transducer（12）Method, the method includes：
From for the electric transducer（12）Fundamental voltage referenceIn determine optimization pulse pattern,
Described in optimize pulse patternFrom the first look-up table（30）In determine, and be included in predefined switching instant
（24）The discrete voltage amplitude of change；
Based on second look-up table（34）, referred to from the fundamental voltageIn determine harmonic content reference
, wherein harmonic content reference is from the electric transducer（12）Electric current frequency spectrum in determine harmonic current referenceOr the harmonic content reference is to be referred to by application fundamental frequency wave filter to voltage and determining filtering voltage, the electric transducer is applied in the optimization pulse pattern（12）When, the current or voltage is generated；
By being referred to from the harmonic contentSubtract the electric transducer（12）Estimation output voltage
And/or the output current of estimationTo refer to from the harmonic contentIn determine harmonic content error；
By to switching instant（24）In-migration changes the optimization pulse pattern during progressSo that the fundamental voltage
With reference toIt is tracked, and the harmonic content errorPass through the switching instant of time shift（24）It is corrected；
Using the optimization pulse pattern of modificationTo the electric transducer（12）Semiconductor switch.
2. the method as described in claim 1,
Wherein described harmonic content errorIt is corrected by minimizing cost function, the cost function is included in
Quadratic term in the harmonic content error and/or the quadratic term in the time shift of the switching instant.
3. method as claimed in claim 2,
Using time shift in the time window wherein terminated in prediction time domain；And/or
Wherein described cost function is based on the harmonic content error at the end of the prediction time domain.
4. method as claimed in claim 2 or claim 3,
The immovable constraint of sequence of switching instant is wherein limited by, minimizes the cost function.
5. the method as described in one in claim 2 to 4,
Wherein by solving quadratic programming, the cost function is minimized.
6. the method as described in one in preceding claims, further includes：
It is referred to from fundamental currentWith the network voltage of estimationIn determine the fundamental voltage parameter。
7. the method as described in one in preceding claims,
Wherein described harmonic content errorIt is the filtering voltage referenceWith the filtering voltage of estimation's
Difference；
Wherein pass through fundamental frequency wave filter described in application on site（46）To the electric transducer（12）The estimation output
Voltage determines the filtering voltage of the estimation。
8. the method as described in one in preceding claims,
Wherein from by peripheral control unit（44）Error and the fundamental current reference of offerIn determine fundamental voltage reference。
9. the method as described in one in preceding claims,
Wherein off-line calculation in first look-up table（30）In the optimization pulse pattern。
10. the method as described in one in preceding claims,
Wherein from being applied to the electric transducer（12）Model corresponding optimization pulse pattern off-line calculation described second
Look-up table（34）In the harmonic content reference。
11. one kind is used for electric transducer（12）Controller（20）, the controller（20）Suitable for according to claim 1 to 10
In one described in method control the electric transducer（12）.
12. a kind of converter system（10）, including：
Electric transducer（12）；
Controller (20) as claimed in claim 11.
13. converter system as claimed in claim 12（10）,
Wherein described converter（12）It is the voltage source converter for ac input voltage to be converted into DC output voltage.
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| EP15176085.7 | 2015-07-09 | ||
| EP15176085 | 2015-07-09 | ||
| PCT/EP2016/066291 WO2017005906A1 (en) | 2015-07-09 | 2016-07-08 | Control of electrical converter based on optimized pulse patterns |
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| CN108156832A true CN108156832A (en) | 2018-06-12 |
| CN108156832B CN108156832B (en) | 2020-05-08 |
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| CN201680040621.XA Active CN108156832B (en) | 2015-07-09 | 2016-07-08 | Control of electrical converters based on optimized pulse patterns |
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|---|---|
| US (1) | US10312793B2 (en) |
| EP (1) | EP3320609B1 (en) |
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| WO (1) | WO2017005906A1 (en) |
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| CN111564997A (en) * | 2019-02-13 | 2020-08-21 | 西门子歌美飒可再生能源公司 | Harmonic control of a converter |
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| WO2020057704A1 (en) | 2018-09-19 | 2020-03-26 | Vestas Wind Systems A/S | Control of a wind turbine power generation system for optimising dc link voltage |
| EP3654524B1 (en) * | 2018-11-14 | 2022-01-05 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for operating an electric motor |
| US10924014B2 (en) * | 2019-03-04 | 2021-02-16 | Alpha And Omega Semiconductor (Cayman) Ltd. | Switching regulator controller dynamic output voltage adjustment |
| US11290023B2 (en) | 2019-04-11 | 2022-03-29 | Hamilton Sundstrand Corporation | Model predictive control for matrix converter operating in current control mode with load current estimation |
| EP3806312B1 (en) * | 2019-10-11 | 2023-03-15 | ABB Schweiz AG | Model predictive pulse pattern control based on optimizing a sequence of averaged switch positions |
| US10824694B1 (en) * | 2019-11-18 | 2020-11-03 | Sas Institute Inc. | Distributable feature analysis in model training system |
| EP3876411B1 (en) * | 2020-03-03 | 2023-05-03 | ABB Schweiz AG | Optimizing pulse patterns with bernoulli polynomials |
| EP3926802A1 (en) * | 2020-06-17 | 2021-12-22 | ABB Schweiz AG | Estimation of an output voltage of a converter circuit |
| FR3126079B1 (en) * | 2021-08-05 | 2023-06-30 | Renault Sas | Method for controlling a three-phase inverter of a powertrain for a motor vehicle |
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Also Published As
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| EP3320609A1 (en) | 2018-05-16 |
| EP3320609B1 (en) | 2021-09-08 |
| CN108156832B (en) | 2020-05-08 |
| WO2017005906A1 (en) | 2017-01-12 |
| US20180131266A1 (en) | 2018-05-10 |
| US10312793B2 (en) | 2019-06-04 |
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